The design and tuning of a three mode PID controller follows the proven recipe we have used with success for P-Only control (e.g., here and here) and PI Control (e.g., here,here and here). The decisions and procedures we established for steps 1-3 of the design and tuning recipe in these previous studies remain unchanged as we move on to the PID algorithm.

Step 4 of the recipe remains the same as well. But it is essential in this step that we match the rules and correlations of step 4 with the particular controller

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